{"id":50429907,"url":"https://github.com/enactic/dora-openarm-kinematics","last_synced_at":"2026-05-31T13:30:29.286Z","repository":{"id":360161052,"uuid":"1242149864","full_name":"enactic/dora-openarm-kinematics","owner":"enactic","description":"dora-rs node for forward and inverse kinematics on OpenArm","archived":false,"fork":false,"pushed_at":"2026-05-25T08:25:42.000Z","size":22,"stargazers_count":0,"open_issues_count":0,"forks_count":2,"subscribers_count":2,"default_branch":"main","last_synced_at":"2026-05-25T10:08:03.371Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/enactic.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-05-18T07:08:06.000Z","updated_at":"2026-05-25T08:25:47.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/enactic/dora-openarm-kinematics","commit_stats":null,"previous_names":["enactic/dora-openarm-kinematics"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/enactic/dora-openarm-kinematics","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-kinematics","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-kinematics/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-kinematics/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-kinematics/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/enactic","download_url":"https://codeload.github.com/enactic/dora-openarm-kinematics/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-kinematics/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":33733754,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-05-31T02:00:06.040Z","response_time":95,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-05-31T13:30:28.626Z","updated_at":"2026-05-31T13:30:29.272Z","avatar_url":"https://github.com/enactic.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# dora-openarm-kinematics\n\nDora nodes for forward and inverse kinematics on the OpenArm bimanual robot, backed by MuJoCo and [mink](https://github.com/kevinzakka/mink). FK/IK logic lives in the [`openarm_control`](https://github.com/enactic/openarm_control) package, imported as `control`.\n\n\n## Install\n\n```bash\nuv sync\n```\n\n## Dora Nodes\n\n\n### `dora-openarm-fk` — Forward Kinematics\n\nConverts per-arm joint angles to end-effector poses via `mj_forward`.\n\n\n| | |\n|---|---|\n| **Inputs** | `position_right` `float32[8]`, `position_left` `float32[8]` — joints 1–7 + gripper |\n| **Outputs** | `pose_right` `float32[7]`, `pose_left` `float32[7]` — `[px, py, pz, qw, qx, qy, qz]` |\n\n```\n--mode           right | left | bimanual  (default: bimanual)\n--frame-right    MuJoCo site/body/geom name for right EE  (default: right_ee_control_point)\n--frame-left     MuJoCo site/body/geom name for left EE   (default: left_ee_control_point)\n--frame-type-*   body | site | geom  (default: site)\n--keyframe       initial keyframe name  (default: home)\n--xml            MJCF scene file\n```\n\n---\n\n### `dora-openarm-ik` — Differential IK\n\nSolves joint angles from EE pose targets using mink's QP-based differential IK. Both arms share one `mink.Configuration` and are solved in a single QP per step. DOFs not driven by IK outputs are frozen (finger joints, lifter).\n\n| | |\n|---|---|\n| **Inputs** | `target_right` `float32[7]`, `target_left` `float32[7]` — EE pose targets; `position` `float32[16]` — optional joint-state sync; `trigger_right` / `trigger_left` `float32[1]` — gripper pass-through |\n| **Outputs** | `position_right` `float32[8]`, `position_left` `float32[8]` |\n\n```\n--mode           right | left | bimanual  (default: bimanual)\n--max-iters      IK iterations per event  (default: 5)\n--dt             integration timestep per iteration  (default: 0.5)\n--damping        global Tikhonov regularization  (default: 1e-3)\n--lm-damping     per-task LM damping  (default: 1e-4)\n--posture-cost   posture task weight, 0 = disabled  (default: 0.0)\n--pos-cost       position task cost  (default: 1.0)\n--ori-cost       orientation task cost  (default: 1.0)\n--solver         QP backend  (default: daqp)\n--frame-right    site/body name for right EE  (default: right_ee_control_point)\n--frame-left     site/body name for left EE   (default: left_ee_control_point)\n--keyframe       initial keyframe  (default: home)\n--xml            MJCF scene file\n```\n\n## Quick Start\n\n### FK — visualise leader arm poses\n\nReads joint angles from a physical leader arm and publishes end-effector poses. Requires a connected leader device.\n\n```bash\nuv run dora build config/dataflow-dummy-fk.yaml --uv\nuv run dora run config/dataflow-dummy-fk.yaml --uv\n```\n\n---\n\n### FK → IK roundtrip\n\nPipes FK output directly back into IK to verify the solver round-trips correctly. No physical hardware needed beyond the leader.\n\n```bash\nuv run dora build config/dataflow-dummy-ik.yaml --uv\nuv run dora run config/dataflow-dummy-ik.yaml --uv\n```\n\n**Dataflow:** `leader` → `fk` (joints → poses) → `ik` (poses → joints) → `viewer`\n\nTune the ik solver parameters in:\n\n```yaml\nargs: \"--mode bimanual --max-iters 5 --dt 0.1 --damping 0.25 --posture-cost 0.01 --lm-damping 0.01\"\n```\n\n## License\n\nLicensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.\n\nCopyright 2026 Enactic, Inc.\n\n## Code of Conduct\n\nAll participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fdora-openarm-kinematics","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fenactic%2Fdora-openarm-kinematics","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fdora-openarm-kinematics/lists"}